The first written mention of Vnorovy is in a hoax that was created between 1267 and 1275. Lidéřovice was first mentioned in 1412. In 1673, Vnorovy was promoted to a market town, but later lost the title. The village and formerly independent municipality of Lidéřovice, which is urbanistically fused with Vnorovy, joined Vnorovy in 1960.